feat(start_planner): move collision check to plan method

[danielsanchezaran]

Description

Currently, collision checking is done AFTER the geometric and shift pull out planners have decided on a candidate output path. The result is that, a path that is collided might be chosen as an output path and then eliminated by the collision checking.

With this PR, the collision checking is moved inside the planners themselves, so, especially in the case of shift pull out, if a candidate path has a collision with a target object, it might generate a different path that is inside lanes and not collided.

Further description here: TIER IV INTERNAL LINK
Related ticket: TIER IV INTERNAL LINK

Related links

Further description here: TIER IV INTERNAL LINK
Related ticket: TIER IV INTERNAL LINK

Tests performed

PSim
Evaluator tests: TIER IV INTERNAL LINK

Notes for reviewers

Interface changes

Effects on system behavior

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[kyoichi-sugahara]

LGTM!
Thanks!

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 34 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (6ee9627) to head (7b13db6).
Report is 9 commits behind head on main.

Files	Patch %	Lines
...ath_start_planner_module/pull_out_planner_base.hpp	0.00%	14 Missing ⚠️
...ng/behavior_path_start_planner_module/src/util.cpp	0.00%	14 Missing ⚠️
...r_path_start_planner_module/src/shift_pull_out.cpp	0.00%	2 Missing ⚠️
...r_path_start_planner_module/freespace_pull_out.hpp	0.00%	1 Missing ⚠️
...r_path_start_planner_module/geometric_pull_out.hpp	0.00%	1 Missing ⚠️
...avior_path_start_planner_module/shift_pull_out.hpp	0.00%	1 Missing ⚠️
...th_start_planner_module/src/geometric_pull_out.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6564      +/-   ##
==========================================
- Coverage   14.79%   14.78%   -0.01%     
==========================================
  Files        1920     1920              
  Lines      132398   132405       +7     
  Branches    39345    39345              
==========================================
  Hits        19582    19582              
- Misses      90970    90977       +7     
  Partials    21846    21846              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.79% <ø> (+<0.01%)	⬆️	Carriedforward from 6ee9627

*This pull request uses carry forward flags. Click here to find out more.

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